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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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Result using Kitti odom data #15

Closed wwtinwhu closed 2 years ago

wwtinwhu commented 2 years ago

Thanks for your work! I test BALM using Kitti odom data by using a_loam as front-end, and BALM as back-end. I found that using default parameter the result after BA gets worse in height. Does anyone have any suggestion or ideas? Below is a part of traj. Purple is gt, red is a_loam, green is aloam+BALM. image

HerB1998 commented 2 years ago

Thanks for your work! I test BALM using Kitti odom data by using a_loam as front-end, and BALM as back-end. I found that using default parameter the result after BA gets worse in height. Does anyone have any suggestion or ideas? Below is a part of traj. Purple is gt, red is a_loam, green is aloam+BALM. image Hello, did you solve this problem?Could I solve this problem by changing the parameter?